WO2023187432A1 - Plant damage prevention device for agricultural machines - Google Patents

Plant damage prevention device for agricultural machines Download PDF

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Publication number
WO2023187432A1
WO2023187432A1 PCT/IB2022/000127 IB2022000127W WO2023187432A1 WO 2023187432 A1 WO2023187432 A1 WO 2023187432A1 IB 2022000127 W IB2022000127 W IB 2022000127W WO 2023187432 A1 WO2023187432 A1 WO 2023187432A1
Authority
WO
WIPO (PCT)
Prior art keywords
frame
pushers
ferromagnetic
edge
damage prevention
Prior art date
Application number
PCT/IB2022/000127
Other languages
French (fr)
Inventor
Mikhail KOSTKIN
Original Assignee
Pek Automotive D.O.O
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pek Automotive D.O.O filed Critical Pek Automotive D.O.O
Priority to PCT/IB2022/000127 priority Critical patent/WO2023187432A1/en
Publication of WO2023187432A1 publication Critical patent/WO2023187432A1/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D75/00—Accessories for harvesters or mowers
    • A01D75/18—Safety devices for parts of the machines
    • A01D75/185—Avoiding collisions with obstacles

Definitions

  • the invention relates to devices intended for protecting plants against damage during the operation of agricultural machinery in orchards and vineyards.
  • Patent CN107966982 publication date 2021-02-09, ICL G05D-001/02, is known6 which describes a collision trigger device containing a magnetic sensor and magnetic blocks actuated at a collision with an obstacle. Said device is equipped with at least two magnetic blocks. A magnetic sensor is used to detect relative displacement of the magnetic blocks on impact and to generate a collision signal.
  • Patent EP3102914 publication date 2018-08-08, ICL A01 D-034/00 also describes an obstacle detection system for a robotic working tool.
  • the system contains a collision detection sensor located between the body and the chassis. At a collision with an obstacle the movable body alters the direction of its movement. This offset displaces the upper part of the collision detection sensor relative to the lower part of said sensor fixed on the chassis. The displacement is detected during the interaction between the magnets fixed on the top of the displacement detection sensor and an array of magnetic sensors, for example Hall sensors, attached at the bottom of said displacement detection sensor.
  • Patent CN213343377 publication date 2021-06-04, ICL A01 D-034/00, describes a mobile device comprising a machine base with a floating cover supported by said base.
  • the upper end of the deformation piece is connected with the floating cover, and the lower end of the deformation piece is connected with the base.
  • the floating cover rests on a plurality of supporting pieces arranged on the base and distributed around the deformation piece.
  • a sensor unit is activated at the horizontal displacement of the floating cover relative to the base and generates a collision signal.
  • the technical result achieved by the present invention consists of enhancing the reliability of damage prevention for trees and shrubs.
  • the plant damage prevention device for agricultural machines includes a ferromagnetic body element and a frame capable of moving along the surface of said ferromagnetic element and containing at least one magnet that interacts with the ferromagnetic body.
  • Said body contains at least one frame travel restraint and two pushers mounted at an angle to each other and permitting an interaction between the pusher rod and the frame. Therein, at least one edge of the frame overhangs the edge of said body.
  • both of the above mentioned pushers can be installed perpendicular to each other.
  • the pushers can be made as spring pushers.
  • the pushers are additionally equipped with a sensor that detects pusher rod displacement relative to the body.
  • the frame When located on the surface of the body, the frame contains grooves housing the frame travel restraints.
  • protective surfaces are applied on the part of the frame perimeter, which is designed to interact with obstacles.
  • Hall sensors are installed in those spots of the body that correspond to the stationary position of the frame magnets.
  • Fig. 1 shows a top view of the plant damage prevention device for agricultural machines.
  • Fig. 2 shows a top view of the frame design.
  • Fig. 3 shows a side view of the device equipped with a working tool.
  • Fig. 4 shows an axonometric view of the device.
  • Fig. 5. shows the operating device encountering an obstacle.
  • Fig. 6 shows the operating device circumventing an obstacle.
  • the agricultural device for protecting trees and shrubs against damage includes a ferromagnetic body element 1 with surface 2.
  • the ferromagnetic body element 1 can be represented by the body itself or a sheet of ferromagnetic material attached to the body, or a sheet with ferromagnetic material added.
  • the body 1 can also make part of the chassis or the body of an agricultural machine.
  • the body can also be configured as a frame carrying an agricultural working tool.
  • the surface 2 of the body 1 can support a lengthwise motion of a frame 3 carrying at least one magnet 4 intended to interact with the ferromagnetic body element 1 .
  • the Figures show an example with the entire body made of a ferromagnetic material.
  • the surface of the body 1 must be smooth enough to allow an unobstructed travel of the frame 3 drawn to the ferromagnetic body element 1 by means of magnets 4 mounted on the frame.
  • the surface 2 of the body 1 can be covered with a layer 10 (Fig. 3, Fig. 4) of a slippery material, for example, plastic.
  • the frame 3 can move along the surface of the body 1 in any direction, with at least one restraint 5 fixed on said body to limit the frame travel. At least one restraint 5 is meant to be present. Frame travel restraints 5 are placed inside grooves 9 of the frame when said frame is installed on the body 1 . At least one edge of the frame 3 (Fig. 1 , Fig. 4) overhangs the edge of the body 1 . The part of the frame 3 edge that overhangs the body 1 and interacts with obstacles bears protective surfaces 7.
  • Two pushers 6 are mounted on the body 1 at an angle to each other.
  • the heads of rods 13 of the pushers 6 rest against the surface 12 of the frame 3 when the pusher 6 interacts with it.
  • the most suitable position of the pushers 6 relative to each other is when they are mutually perpendicular, since such an embodiment enables the largest travel capacity of the frame 3 over the surface 2 of the body 1 , when the protective surfaces 7 of the frame 3 collide with obstacles.
  • the pushers employed in the device can be hydraulic, pneumatic, or spring pushers.
  • Fig. 1 , Fig. 4 - Fig. 6 show the design of a spring pusher 6 with a rod 13 and a spring 11.
  • the plant damage prevention device for agricultural machines is mounted on the body 1 so that the restraints 5 mounted on the body 1 get into grooves 9 of the frame 3. Magnets 4 of the frame 3 draw it to the ferromagnetic body 1 without preventing the frame 3 from moving when its outer protective surfaces 7 are exposed to the impact from an encountered obstacle 15 (Fig. 5 - Fig. 6). Therein, the frame surfaces 12 act upon the heads of the rod 13 of pushers 6 and compress springs 11. The frame 3 moves along the body 1 , thereby allowing to avoid the obstacle 15 (Fig. 5) without damaging it.
  • the protection capabilities of the device can be significantly expanded if the pushers 6 are additionally equipped with sensors 8 that register the motion of the rod 13 of the pusher 6 relative to the body 1. Such an embodiment enables the detection of obstacle 15 using the data supplied by sensors 8 and make the agricultural machine or its equipment go around the obstacle 15 without damaging it.
  • the frame 3 can come off the surface 2 of the body 1 with no or little damage to the frame if said frame is reasonably strong. In this case, putting the frame back in place is sufficient to make the device operational again.
  • Hall sensors are installed in those spots of the body that correspond to the stationary position of magnets 4 of frame 3.
  • Fig. 1 shows the location of a Hall sensor in the body 1 under magnets 4 of the frame 3. Hall sensors, registering the availability of magnet 4 over the sensor, can be used in the control system of the agricultural machine to make it bypass obstacles by determining the position of the frame 3 on the body 1 .
  • the plant damage prevention device is mounted on a retractable platform equipped with a tillage tool, for example, with a rotary cultivator 14 (as shown in Fig.3), then the retractable platform can be withdrawn at the command of the control system using data from sensors 8 to bypass the obstacle 15.
  • the withdrawal direction of the retractable platform is shown by an arrow in Fig. 5.
  • the plant damage protection device is designed for use on various types of agricultural machines or their elements.
  • the device provides a mechanical protection for trees and shrubs in orchards and vineyards by generating signals for the vehicle control system that inform of a collision with an obstacle, or a deviation in travel direction of the agricultural tool or the whole agricultural machine.

Abstract

The invention relates to devices intended for protecting plants against damage during the operation of agricultural machinery in orchards and vineyards. The device includes a ferromagnetic body element and a frame capable of moving along the surface of said ferromagnetic element and containing at least one magnet that interacts with the ferromagnetic body. Said body contains at least one frame travel restrain and two pushers set at an angle to each other and enabling the interaction between the pusher rod and the frame. Therein, at least one edge of the frame overhangs the edge of said body. The device enhances the reliability of damage prevention for trees and shrubs.

Description

PLANT DAMAGE PREVENTION DEVICE FOR AGRICULTURAL MACHINES
FIELD OF INVENTION
The invention relates to devices intended for protecting plants against damage during the operation of agricultural machinery in orchards and vineyards. PRIOR ART
Patent CN107966982, publication date 2021-02-09, ICL G05D-001/02, is known6 which describes a collision trigger device containing a magnetic sensor and magnetic blocks actuated at a collision with an obstacle. Said device is equipped with at least two magnetic blocks. A magnetic sensor is used to detect relative displacement of the magnetic blocks on impact and to generate a collision signal.
Patent EP3102914, publication date 2018-08-08, ICL A01 D-034/00 also describes an obstacle detection system for a robotic working tool. The system contains a collision detection sensor located between the body and the chassis. At a collision with an obstacle the movable body alters the direction of its movement. This offset displaces the upper part of the collision detection sensor relative to the lower part of said sensor fixed on the chassis. The displacement is detected during the interaction between the magnets fixed on the top of the displacement detection sensor and an array of magnetic sensors, for example Hall sensors, attached at the bottom of said displacement detection sensor. Patent CN213343377, publication date 2021-06-04, ICL A01 D-034/00, describes a mobile device comprising a machine base with a floating cover supported by said base. The upper end of the deformation piece is connected with the floating cover, and the lower end of the deformation piece is connected with the base. The floating cover rests on a plurality of supporting pieces arranged on the base and distributed around the deformation piece. A sensor unit is activated at the horizontal displacement of the floating cover relative to the base and generates a collision signal.
The above design is the closest analog to the case in point.
DISCLOSURE OF THE INVENTION The technical result achieved by the present invention consists of enhancing the reliability of damage prevention for trees and shrubs.
The plant damage prevention device for agricultural machines includes a ferromagnetic body element and a frame capable of moving along the surface of said ferromagnetic element and containing at least one magnet that interacts with the ferromagnetic body. Said body contains at least one frame travel restraint and two pushers mounted at an angle to each other and permitting an interaction between the pusher rod and the frame. Therein, at least one edge of the frame overhangs the edge of said body. Particularly, both of the above mentioned pushers can be installed perpendicular to each other.
Also, the pushers can be made as spring pushers.
Besides, the pushers are additionally equipped with a sensor that detects pusher rod displacement relative to the body. When located on the surface of the body, the frame contains grooves housing the frame travel restraints.
Besides, protective surfaces are applied on the part of the frame perimeter, which is designed to interact with obstacles.
Moreover, Hall sensors are installed in those spots of the body that correspond to the stationary position of the frame magnets.
BRIEF DESCRIPTION OF DRAWINGS
Fig. 1 shows a top view of the plant damage prevention device for agricultural machines.
Fig. 2 shows a top view of the frame design. Fig. 3 shows a side view of the device equipped with a working tool.
Fig. 4 shows an axonometric view of the device.
Fig. 5. shows the operating device encountering an obstacle.
Fig. 6 shows the operating device circumventing an obstacle.
EMBODIMENTS OF THE INVENTION The agricultural device for protecting trees and shrubs against damage includes a ferromagnetic body element 1 with surface 2. The ferromagnetic body element 1 can be represented by the body itself or a sheet of ferromagnetic material attached to the body, or a sheet with ferromagnetic material added. The body 1 can also make part of the chassis or the body of an agricultural machine. The body can also be configured as a frame carrying an agricultural working tool.
The surface 2 of the body 1 can support a lengthwise motion of a frame 3 carrying at least one magnet 4 intended to interact with the ferromagnetic body element 1 . For simplicity, the Figures show an example with the entire body made of a ferromagnetic material. The surface of the body 1 must be smooth enough to allow an unobstructed travel of the frame 3 drawn to the ferromagnetic body element 1 by means of magnets 4 mounted on the frame. To improve the frame slip, the surface 2 of the body 1 can be covered with a layer 10 (Fig. 3, Fig. 4) of a slippery material, for example, plastic.
The frame 3 can move along the surface of the body 1 in any direction, with at least one restraint 5 fixed on said body to limit the frame travel. At least one restraint 5 is meant to be present. Frame travel restraints 5 are placed inside grooves 9 of the frame when said frame is installed on the body 1 . At least one edge of the frame 3 (Fig. 1 , Fig. 4) overhangs the edge of the body 1 . The part of the frame 3 edge that overhangs the body 1 and interacts with obstacles bears protective surfaces 7.
Two pushers 6 are mounted on the body 1 at an angle to each other. The heads of rods 13 of the pushers 6 rest against the surface 12 of the frame 3 when the pusher 6 interacts with it. The most suitable position of the pushers 6 relative to each other is when they are mutually perpendicular, since such an embodiment enables the largest travel capacity of the frame 3 over the surface 2 of the body 1 , when the protective surfaces 7 of the frame 3 collide with obstacles. The pushers employed in the device can be hydraulic, pneumatic, or spring pushers. Fig. 1 , Fig. 4 - Fig. 6 show the design of a spring pusher 6 with a rod 13 and a spring 11.
The plant damage prevention device for agricultural machines is mounted on the body 1 so that the restraints 5 mounted on the body 1 get into grooves 9 of the frame 3. Magnets 4 of the frame 3 draw it to the ferromagnetic body 1 without preventing the frame 3 from moving when its outer protective surfaces 7 are exposed to the impact from an encountered obstacle 15 (Fig. 5 - Fig. 6). Therein, the frame surfaces 12 act upon the heads of the rod 13 of pushers 6 and compress springs 11. The frame 3 moves along the body 1 , thereby allowing to avoid the obstacle 15 (Fig. 5) without damaging it.
The protection capabilities of the device can be significantly expanded if the pushers 6 are additionally equipped with sensors 8 that register the motion of the rod 13 of the pusher 6 relative to the body 1. Such an embodiment enables the detection of obstacle 15 using the data supplied by sensors 8 and make the agricultural machine or its equipment go around the obstacle 15 without damaging it.
If the impact force is strong enough, the frame 3 can come off the surface 2 of the body 1 with no or little damage to the frame if said frame is reasonably strong. In this case, putting the frame back in place is sufficient to make the device operational again.
In order to detect the absence of the frame 3 on the surface 2 of the body 1 , Hall sensors are installed in those spots of the body that correspond to the stationary position of magnets 4 of frame 3. Fig. 1 shows the location of a Hall sensor in the body 1 under magnets 4 of the frame 3. Hall sensors, registering the availability of magnet 4 over the sensor, can be used in the control system of the agricultural machine to make it bypass obstacles by determining the position of the frame 3 on the body 1 .
If the plant damage prevention device is mounted on a retractable platform equipped with a tillage tool, for example, with a rotary cultivator 14 (as shown in Fig.3), then the retractable platform can be withdrawn at the command of the control system using data from sensors 8 to bypass the obstacle 15. The withdrawal direction of the retractable platform is shown by an arrow in Fig. 5.
INDUSTRIAL APPLICABILITY
The plant damage protection device is designed for use on various types of agricultural machines or their elements. The device provides a mechanical protection for trees and shrubs in orchards and vineyards by generating signals for the vehicle control system that inform of a collision with an obstacle, or a deviation in travel direction of the agricultural tool or the whole agricultural machine.

Claims

1. A device for preventing damage to trees and shrubs for agricultural machines, including a ferromagnetic body element and a frame capable of moving along the surface of said ferromagnetic body element, and containing at least one magnet that interacts with the ferromagnetic body, wherein said body contains at least one frame travel restraint and carries two pushers set at an angle to each other and enabling interaction of the pusher rod and the frame, with at least one edge of the frame overhanging the edge of said body.
2. The device according to claim 1 , wherein the two above mentioned pushers are set mutually perpendicular.
3. The device according to claim 1 , wherein spring pushers are used as the pushers.
4. The device according to claim 1 , wherein the pushers are additionally equipped with a sensor for registering pusher rod displacement relative to the body.
5. The device according to claim 1 , wherein the frame has grooves, which accommodate travel restraints for the frame when said frame is mounted on the body surface.
6. The device according to claim 1 , wherein the part of the frame intended for interaction with obstacles bears protective surfaces.
7. The device according to claim 1 , wherein Hall sensors are installed in the spots of the body that correspond to the stationary position of the frame magnets.
PCT/IB2022/000127 2022-03-31 2022-03-31 Plant damage prevention device for agricultural machines WO2023187432A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/IB2022/000127 WO2023187432A1 (en) 2022-03-31 2022-03-31 Plant damage prevention device for agricultural machines

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Application Number Priority Date Filing Date Title
PCT/IB2022/000127 WO2023187432A1 (en) 2022-03-31 2022-03-31 Plant damage prevention device for agricultural machines

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2358843A (en) * 2000-02-02 2001-08-08 Logical Technologies Ltd An autonomous mobile apparatus for performing work within a pre-defined area
EP3102914A1 (en) 2014-02-03 2016-12-14 Husqvarna AB Obstacle detection for a robotic working tool
CN107966982A (en) 2016-10-18 2018-04-27 苏州宝时得电动工具有限公司 Collide trigger device and grass trimmer
WO2020041367A2 (en) * 2018-08-21 2020-02-27 Kingman Connor Vehicle sliding bumper and system for object contact detection and responsive control
WO2020263081A1 (en) * 2019-06-26 2020-12-30 Lely Patent N.V. Self propelled mower with safety device
CN213343377U (en) 2020-09-14 2021-06-04 深圳市杉川机器人有限公司 Self-moving equipment

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2358843A (en) * 2000-02-02 2001-08-08 Logical Technologies Ltd An autonomous mobile apparatus for performing work within a pre-defined area
EP3102914A1 (en) 2014-02-03 2016-12-14 Husqvarna AB Obstacle detection for a robotic working tool
CN107966982A (en) 2016-10-18 2018-04-27 苏州宝时得电动工具有限公司 Collide trigger device and grass trimmer
WO2020041367A2 (en) * 2018-08-21 2020-02-27 Kingman Connor Vehicle sliding bumper and system for object contact detection and responsive control
WO2020263081A1 (en) * 2019-06-26 2020-12-30 Lely Patent N.V. Self propelled mower with safety device
CN213343377U (en) 2020-09-14 2021-06-04 深圳市杉川机器人有限公司 Self-moving equipment

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